Reusable buoyancy modules for buoyancy control of underwater vehicles

ABSTRACT

A buoyancy module for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch has a buoyancy configuration which can be selectively altered. The system includes a module that is configured to be repeatedly, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the module and is extendable and retractable in response to operation of the winch. Extending and retracting the module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the operation of a state controller. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered. A method is also disclosed.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application is a continuation application of U.S.application Ser. No. 16/217,942, filed Dec. 12, 2018, entitled “ReusableBuoyancy Modules for Buoyancy Control of Underwater Vehicles,” whichissued as U.S. Pat. No. 10,369,705 on Aug. 6, 2019, which is acontinuation application of U.S. application Ser. No. 15/675,714, filedAug. 12, 2017, entitled “Reusable Buoyancy Modules for Buoyancy Controlof Underwater Vehicles,” which issued as U.S. Pat. No. 10,183,400 onJan. 22, 2019, which itself is based on and claims priority under 35U.S.C. § 119 to U.S. Ser. No. 62/397,175, filed Sep. 20, 2016, entitled“Underwater Vehicle Construction, Operation, Coordination, And Control,Attachments Therefor And Methods Relating To Same”, each of which ishereby incorporated by reference as if expressly set forth in theirrespective entireties herein.

FIELD OF THE INVENTION

A system, method, and devices for performing underwater tasks thatincludes an underwater robot and one or more reusable buoyancy modules.

BACKGROUND OF THE INVENTION

Mobility of underwater vehicles is governed by various factors. Avehicle's density and gravity play a great role in underwater mobility.Underwater vehicles must have the means to counter the effect of theirgravity and/or buoyancy in order to swim smoothly through a water columnand perform tasks efficiently. An underwater vehicle having a neutrallybuoyant state is the optimum condition for swimming and transportingthrough the water column. In some applications, such as visualinspection of underwater structure or video shooting of underwatertarget, free swimming with neutral buoyancy is desired. On the otherhand, an underwater robot having a negatively buoyant state is desiredfor crawling or anchoring on the seabed. Some applications, such asfouling cleaning, robotic arm manipulation and maintenance require theunderwater vehicle to be stable and heavy on the subsurface floor toovercome the counter effect of operations (i.e., equal and oppositereactionary forces).

The concept of buoyancy control was developed with the earliestevolvement of submarines. Submarines typically change their internalbuoyancy by varying their volume underwater using pumps and gascylinders, i.e., hydraulically. However, hydraulic buoyancy controlsystems are usually bulky, complicated and optimized for large size,deep underwater vehicles.

Accordingly, there is a need to provide underwater vehicles with a meansof controlling buoyancy with an easy to manufacture, operate, andmaintain, cost-effective and compact system that can be applied forspecific applications and conditions. By utilizing the water surfacebuoyancy limit and the seabed gravity limit, discrete buoyancy controlcan be achieved according to the present invention as disclosed herein.

SUMMARY OF THE INVENTION

In one aspect of the invention, a water environment robotic system isprovided that includes an underwater robotic vehicle, wherein theunderwater robotic vehicle is at least one vehicle of the waterenvironment robotic system. A buoyancy module is configured to beselectively buoyantly engaged and buoyantly disengaged with theunderwater robotic vehicle. A tether is connected to the buoyancymodule. A motor is operatively connected to the tether and is configuredto extend and retract the tether and buoyancy module. In a firstcondition the tether and buoyancy module are in a retracted position andthe underwater robotic vehicle has a first buoyancy. In a secondcondition the tether and buoyancy module are in an extended position andthe underwater robotic vehicle has a second buoyancy. The buoyancymodule is in one of the states of being buoyantly engaged or buoyantlydisengaged with the underwater robot in the first condition, and thebuoyancy module is in the other one of the states of being buoyantlyengaged or buoyantly disengaged with the underwater robot in the secondcondition.

According to a further aspect, the buoyancy module has a positivebuoyancy, and in the first condition the buoyancy module is in theretracted position and is buoyantly engaged with the underwater robotcausing the first buoyancy of the underwater robot to be higher than thesecond buoyancy in the second condition in which the buoyance module isin the extended position and is buoyantly disengaged from the underwaterrobot.

According to a still further aspect, the buoyancy module has a negativebuoyancy, and in the first condition the buoyancy module is in theretracted position and is buoyantly disengaged with the underwater robotcausing the first buoyancy of the underwater robot to be higher than thesecond buoyancy in the second condition in which the buoyance module isin the extended position and is buoyantly engaged with the underwaterrobot.

According to another aspect, the buoyancy module has a neutral buoyancy,and in the first condition the buoyancy module is in the retractedposition and is buoyantly engaged with the underwater robot causing thefirst buoyancy of the underwater robot to be equal to the secondbuoyancy in the second condition in which the buoyance module is in theextended position and is buoyantly disengaged with the underwater robot.

According to yet another aspect, which can be combined in an embodimentconstructed in accordance with one or more of the foregoing aspects, thebuoyancy module is incorporated in a surface boat.

According to a further aspect, which can be combined in an embodimentconstructed in accordance with one or more of the foregoing aspects, thebuoyancy module is a surface boat.

According to a still further aspect, which can be combined in anembodiment constructed in accordance with one or more of the foregoingaspects, the surface boat is configured to perform functions on asurface of the water when the surface boat is in the disengagedcondition.

According to a further aspect, wherein tether is in a slack conditionthe buoyancy module is in the state of being buoyantly disengaged withthe underwater robot.

According to another aspect, a robotic system having selectivelyengageable buoyancy for use in a water environment is provided thatincludes an underwater robotic vehicle. A buoyancy module that isconfigured to be selectively engaged and disengaged with the underwaterrobotic vehicle. A tether is connected to the buoyancy module. A winchis operatively connected to the tether and is configured to extend andretract the tether and buoyancy module. A state controller is connectedto the winch and is operative to transition the robotic system betweenat least two of the following buoyancy states: (1) a first state inwhich the tether and buoyancy module are in a retracted position and theunderwater robotic vehicle has a first buoyancy, and (2) a second statein which the tether and buoyancy module are in an extended position andthe underwater robotic vehicle has a second buoyancy. The buoyancymodule is either engaged or disengaged with the underwater robot in thefirst state, and the buoyancy module is in the other one of beingengaged or disengaged with the underwater robot in the second condition.

According to yet another aspect, a method for operating a waterenvironment robotic system is provided. The method includes the step ofdeploying the water environment robotic system into a water environment.The water environment robotic system includes an underwater roboticvehicle, wherein the underwater robotic vehicle is at least one vehicleof the water environment robotic system. The system includes a buoyancymodule that is configured to be selectively buoyantly engaged andbuoyantly disengaged with the underwater robotic vehicle. A tether isconnected to the buoyancy module. A motor is operatively connected tothe tether and is configured to extend and retract the tether andbuoyancy module. The method includes the step of selectively altering abuoyancy configuration of the water environment robotic system.Selectively altering the buoyancy includes the steps of: extending thetether and buoyancy module; buoyantly disengaging the buoyancy modulesuch that the underwater robotic vehicle has one buoyancy; retractingthe tether and buoyancy module; and buoyantly engaging the buoyancymodule such that the underwater robotic vehicle has a differentbuoyancy.

According to a further aspect, the buoyancy module has a positivebuoyancy, and in a first condition the buoyancy module is in a retractedposition and is buoyantly engaged with the underwater robot causing thebuoyancy of the underwater robot to be higher than in a second conditionin which the buoyance module is in an extended position and is buoyantlydisengaged from the underwater robot.

According to a still further aspect, the buoyancy module has a negativebuoyancy, and in a first condition the buoyancy module is in a retractedposition and is buoyantly disengaged with the underwater robot causingthe buoyancy of the underwater robot to be higher than in a secondcondition in which the buoyancy module is in an extended position and isbuoyantly engaged with the underwater robot.

According to a yet further aspect, the buoyancy module has a neutralbuoyancy, and in a first condition the buoyancy module is in a retractedposition and is buoyantly engaged with the underwater robot causing thebuoyancy of the underwater robot to be equal to the buoyancy in a secondcondition in which the buoyance module is in the extended position andis buoyantly disengaged with the underwater robot.

According to yet another aspect, which can be combined in an embodimentconstructed in accordance with one or more of the foregoing aspects, thebuoyancy module is incorporated in a surface boat.

According to a further aspect, which can be combined in an embodimentconstructed in accordance with one or more of the foregoing aspects, thebuoyancy module is a surface boat.

According to a still further aspect, which can be combined in anembodiment constructed in accordance with one or more of the foregoingaspects, the surface boat is configured to perform functions on asurface of the water when the surface boat is in the disengagedcondition.

According to a further aspect, wherein the tether being in a slackcondition causes the buoyancy module to be in the state of beingbuoyantly disengaged with the underwater robot.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A-1C show details of the system in accordance with one embodimentof the present invention;

FIGS. 2A-2C show details of the system in accordance with anotherembodiment of the present invention;

FIGS. 3A-3B show details of the system in accordance with anotherembodiment of the present invention;

FIGS. 4A-4B show details of the system in accordance with anotherembodiment of the present invention; and

FIGS. 5A-5C show details of the system in accordance with anotherembodiment of the present invention.

DETAILED DESCRIPTION CERTAIN OF EMBODIMENTS OF THE INVENTION

Referring to FIGS. 1A-1C, an embodiment is illustrated of an aquaticenvironment robotic system 10 includes an underwater robot 110. Theunderwater robot 110 can include a lower body portion 112. The main hullof the underwater robot 110 can house various electronics, motors,thrusters, sensors, and power sources, as determined as necessary for aparticular operation of the robot. The lower body portion 112 caninclude tracks 114, as shown in FIG. 1, which can be used to traversethe subsurface floor.

A buoyancy module 116 is connected to the underwater robot 110 viatethers 118 and a motorized pulley or winch system 120. The buoyancemodule 116 can be connected to the underwater robot 110 via one or moretethers 118. As shown in FIG. 1, the buoyancy module 116 is connectedvia two tethers 118, one located forward and one located aft. The use oftwo tethers increases stability and reduces the chances that theunderwater robot 110 and the buoyancy module 116 can become misaligned(e.g., the robot flipping with respect to the buoyancy module 116).Moreover, the use of multiple tethers distributes the buoyant force ofthe buoyancy module 116 over the hull of the underwater robot 110. Thetethers 118 are shown connected to a single winch system 120.Alternatively, individual winch systems can be used for each tether.

The winch system 120 includes a motor and a pulley or drum that areconfigured to extend and retract the tethers 118. The winch system 120includes a motor and drum or pulley to wind and unwind the tethers 118.For example, when the motor of the winch system 120 rotates in a firstdirection, the tethers 118 unwind and extend from the underwater robot.When the motor causes of the drum to rotate in opposite direction, thetethers 118 wind onto the drum and retract into the underwater robot. Bythe mode of operation, the winch system 120 can extend and retract thetethers 118 upon receiving an input control command. A state controldevice, including among other components a processor configured by codethat it executes or otherwise implements and a non-volatile memory,receives and provides commands or an electrical or mechanical user inputdevice, can be connected to the winch to control the operation of thewinch, which, in turn, operates to transition the robotic system betweenat least two buoyancy states, as discussed in more detail below.

As the tethers 118 extend and/or retract by operation of the winch 120,the buoyancy module 116, which is connected to the tethers 118, alsoextends and retracts, respectively. As discussed in more detail below,this system can be used to engage and disengage the buoyancy module 116with the underwater robot 110.

FIGS. 1A-1C illustrate the buoyancy module 116 in various states ofbeing engaged and disengaged with the underwater robot 110, which causethe buoyancy of the underwater robot 110 to change as a result of theengaged/disengaged condition of the buoyance module 116. In theparticular embodiment shown in FIGS. 1A-1C, the buoyancy module 116 hasa positive buoyancy. A positive buoyancy means that the buoyancy module116 has a density less than the water that the robot is operating in.The positive buoyance of the buoyance module causes an upward force,i.e., a force toward the top of the water column, to be exerted on theunderwater robot.

In FIG. 1A, the tethers 118 are in a retracted position. In other words,the tethers 118 are wound about the drum of the winch system 120 and thebuoyancy module 116 is engaged with the underwater robot 110. Thebuoyancy 116 module is engaged with the underwater robot 110 such thatthe buoyancy force is transferred through the tethers 118 to theunderwater robot. Accordingly, the tethers 118 are under tension and aretransmitting that buoyancy force to the underwater robot. In otherembodiments, releasable retention clamps (not shown) can be used whenthe buoyance module 116 is in the fully retracted position and isengaged against the robot 110. Alternatively, the retention clamps canpositively engage the buoyance module 116 so that the tethers 118 arenot under constant, full tension in the full-retracted position.

In FIG. 1B, the winch system 120 is shown in the process of deployingthe buoyancy module 116 by extending the tethers 118 so that thebuoyancy module is extended away from the underwater robot 110. Due tothe positive buoyancy of the buoyancy module 116, the buoyancy module116 rises through the water column towards the surface of the water.However, the tethers 118 are still under tension and so the buoyancyforce is still transferred to the underwater robot 110 through thetethers 118 in configuration shown in FIG. 1B. As such, the buoyancymodule 116 is still engaged with the underwater robot 110 in thisconfiguration because the tethers 118 are under tension and exertingforce on the underwater robot 110.

In FIG. 1C, the winch system 120 has unwound and has extended sufficientlength of the tethers 118 such that the buoyancy module 116 has risenthrough the water column to the surface of the water and the underwaterrobot has descended through the water column to make contact with theunderwater surface. In this condition, the tethers 118 have beenextended to an extent so that the buoyancy force is no longer beingtransferred through the tethers 118. As shown in FIG. 1C, the buoyancymodule 116 is freely floating on the surface of the water and theunderwater robot is resting on the undersea surface. The tethers 118have been extended a length greater than the water column, i.e., greaterthan the depth of the water in that location, so that the tethers 118have become slack with respect to the buoyancy module 116 and theunderwater robot 110. In this configuration, the buoyance module 116 isdisengaged from the robot 110 because the buoyance module is no longerexerting a buoyance force on the robot 110.

In the slack condition illustrated in FIG. 1C, the tethers 118 are nolonger transferring the buoyance force to the robot 110. As a result ofthe tethers 118 no longer transferring the buoyancy force to theunderwater robot 110, the net buoyance of the underwater robot 110 hasincreased. As such, the underwater robot 110 experiences a greatergravitational force which holds it against the undersea surface. Theincreased net downward force experienced by the underwater robot 110increases the traction between the underwater robot 110 and the underseasurface. The increased traction allows the robot to travel along theundersea surface in a more stable manner precisely because bettertraction is maintained. Moreover, this increased traction allows theunderwater robot 110 to perform tasks more efficiently because theunderwater robot has a greater stability. For example, if the underwaterrobot 110 were operated to remove fouling from a pipe surface, the forceexerted by the fouling removal tool against the pipe would result in anequal and opposite force against the underwater robot 110. As such,there is a tendency for the underwater robot 110 to be pushed away fromthe pipe as it applies force on the pipe. The increased traction of theunderwater robot 110, caused by the reduced buoyancy as a result of thedisengagement of the buoyancy module 116, resists this force and allowsthe robot to stay in the desired position during the cleaning operation.

The mobile robot system 10 can be reconfigured to adjust the buoyancycharacteristics of the underwater robot 110 during certain operationsand to be adjusted again during other operations, as required. In FIG.1A, the positive buoyancy of the buoyancy module 116 counteracts thenegative buoyancy of the underwater robot 110. In this condition, theengagement between the buoyancy module 116 and the underwater robot 110results in a neutrally buoyant configuration. A neutrally buoyantconfiguration is particularly useful for swimming operations of theunderwater robot because the system 10 does not have a tendency to moveup or down through the water column.

For example, when the robot system 10 is first deployed into the water,it may be desirable to have the buoyancy module 116 engaged with theunderwater robot 110, as shown in FIG. 1A. The neutral buoyancy achievedby the engagement of the buoyancy module 116 and the underwater robot100 improves the efficiency of swimming through the water column andpermits the use of thruster 122 to move the robot through the watercolumn. The thrusters 122 can be used to move the robot to a desiredposition. Once at the desired position, the winch 120 can be activatedto extend the tethers 118 to a sufficient extent such that the buoyancymodule 116 is floating on the surface of the water and the underwaterrobot 110 is resting against the subsea surface with sufficient slack inthe tethers 118, as shown in FIG. 1C. Once the buoyance module 116 hasbeen disengaged from the underwater robot 110 (i.e., the no force isexerted by the buoyancy module on the underwater robot), the underwaterrobot 110 has a negatively buoyant condition which is suitable fortraversing (i.e., using treads 114 or other means) and operating(performing inspection, cleaning, maintenance operations, etc.) on theundersea surface. After the crawling or other operations conducted onthe sea surface are complete, the winch 120 can wind up and retract thetethers, thereby reengaging the buoyance module 116 and the underwaterrobot 110 (i.e., force is exerted by the buoyancy module on theunderwater robot). In this way, after the subsea floor operations arecomplete the underwater robot is now again neutrally buoyant and canmove through the water column in an efficient manner. Once operationsare complete, the underwater robot 110 can swim to the surface forretrieval from the water.

Accordingly, in a first condition the underwater robot shown anddescribed in connection with FIGS. 1A-1C can have a first buoyancy,while in a second condition it can have a second buoyancy, and in thethird condition it can have third buoyancy. With respect to arrangementshown in FIG. 1, in the first condition the underwater robot has aneutral buoyancy characteristic, in the second condition the underwaterrobot has a negative buoyancy characteristic, and in the third conditionthe underwater robot has a neutral buoyancy characteristic. Otherarrangements can be constructed in which the various conditions areassociated with different buoyancy characteristics than outlined above,as will be appreciated by the skilled reader.

As such, the buoyancy of the underwater robot can be changed usingmechanical devices such as winches and tethers. The use of a winch andtether system provides a cost-effective and efficient means ofcontrolling the buoyancy of the vehicle as compared to other systemsthat require the changing of hydraulic ballast. Moreover, since thebuoyancy module remains connected to the underwater vehicle by tethers,the buoyancy module can be recovered and reused after it is disengagedfrom the underwater robot. This offers significant advantages overtypical drop-ballast systems in which ballast material is simplyreleased and disregarded and cannot be reused. Moreover, the ability toengage, disengage, and reengage the buoyancy module permits the buoyanceof the robot to be adjusted multiple times throughout an operation. Thispermits greater flexibility and operation complexity to be achieved witha single launch of the robot. For example, the robot can swim to a firstlocation, land on the seafloor to perform an operation, reengage withthe buoyance module so that it can swim to another location, and thenland again to perform a second operation. This can be repeated manytimes before the robot ultimately resurfaces for retrieval from thewater. ADD

The adjusting of buoyancy by manipulating the ballast modules can becontrolled through the use of a number of sensors that can be used toregulate the process to provide a controlled, efficient operation of thesystem. The underwater robotic vehicle can include an underwater depthsensor, including one of conventional design, to determine the depth ofthe vehicle under the surface (e.g., the distance between the currentposition and the surface of the water). A tether sensor can be includedto monitor the condition of the tether. For example, the tether sensorcan measure a tension/force of the tether (e.g., can comprise aconventional strain gauge). The tether sensor can measure whether thetether is under tension or a slack condition. The tether sensor can bedisposed downstream of the winch (i.e., on the tether-deployed side ofthe winch). A winch encoder can also be provided to measure the numberof rotations of the winch and, using this measured data, the length ofthe unwound (deployed) tether can be determined. For example, thesethree sensors (“Buoyancy Control Sensors”) can be used together toprovide the robotic processing unit a feedback on the status of thebuoyancy module (“Buoyancy Module Feedback”). For example, by comparingthe depth, encoder, and force sensor data signals, the processor,executing software, can determine which status the buoyancy controlprocess is under. For example, if the depth range is higher than thetether encoder length and the tether is under tension, more tether slackis required and the winch could be controlled accordingly. If the tetherencoder length is much greater than the depth rating and the tethertension force sensor did not detect tension in the tether for a while,that means that the tether has been slack for some time and retrievingsome of it could prevent potential entanglement. A closed loop automaticcontrol could be applied on the buoyancy control system to minimize theeffect of drag and the surface waves on the buoyancy status of theunderwater robot.

As noted above, the arrangement shown in FIG. 1 incorporates apositively buoyant buoyancy module 116. In addition, negatively buoyantand/or neutrally buoyant buoyancy modules can also be used in otherarrangements, as discussed in more detail below. The buoyancy of thebuoyancy module can be adjusted by adjusting the density of the materialof the buoyancy module and/or adjusting the volume of the buoyancymodule. For example, the buoyancy module can be an air filled bladder,or a bladder filled with foam oil or other material that has a densitylower than water. A buoyancy module incorporating lower densitymaterials will result in a positively buoyant module. Similarly, abuoyancy module that incorporates denser materials, such as leadweights, sand rocks, or other materials that are denser than water, willresult in a negatively buoyant buoyancy module.

FIGS. 2-5 illustrate embodiments that are similar to the embodimentshown in FIG. 1 in that a buoyancy module can be engaged, disengaged,and reengaged to alter the buoyancy of the underwater robot. However, inthe various embodiments the combinations of extension/retraction of thebuoyancy module and the buoyancy characteristics of the buoyancy moduleare varied, as discussed in more detail below.

Referring now to FIG. 2, the underwater robot 200 includes an upperportion 210 and a lower portion 212. The upper portion 210 includes awinch system 220 for extending and retracting tethers 218. The lowerportion 212 includes tracks 214 that can be used to traverse the seafloor. The lower portion 212 also incorporates a buoyancy module 216.The buoyancy module 216 can be in the form of added weight/ballast thatis incorporated into lower portion 212. The buoyance module 216 can alsobe integral with the lower portion 212 such that the natural weight ofthe lower portion 212 also acts as the weight/ballast of the buoyancymodule 216. The buoyancy module 216 is negatively buoyant.

In FIG. 2A, the upper portion 210 of the underwater robot 200 is engagedwith the lower portion 212, which includes the buoyancy module 216. Inthis embodiment, the buoyancy module 216 has a negatively buoyantcondition. Accordingly, the underwater robot 200 is configured forpositive engagement with the seafloor and can travel along the seafloorusing tracks 214 and/or perform various operation. In FIG. 2B, the winchsystem 220 has extended a segment of tether 218 causing the lower body212 of the underwater robot to extend away from the upper body 210 ofthe underwater robot. The upper body 210 is neutrally buoyant whereasthe lower body 212, which includes the negatively buoyant buoyancymodule 216, is negatively buoyant. Accordingly, as the winch 220 extendsthe tethers 218, the tethers 118 become slack and do not exert a forcebetween the upper body 210 in the lower body 212, as shown in FIG. 2C.In this condition, the buoyance module 216 is disengaged from the upperportion 210 of the underwater robot. The upper portion 210 can be themain portion of the underwater robot and can include the thrusters 222,inspection and maintenance tools, and/or house the main controlelectronics of the robot. As the buoyance module 216 disengages from themain portion of the underwater robot, the tracks 214 remain on theseafloor. Without the ballast of the buoyancy module 216 beingpositively engaged, the upper portion 210 is neutrally buoyant and isable to efficiently swim through the water column to perform variousoperations. The winch system 220 can extend additional length of tether218 so that the upper body 210 can move a distance from the lower body212. The tether extending between the upper body 210 and the lower body212 can be a communication tether that transmits power and/or othersignals such as are suitable to transfer data between the upper andlower bodies (e.g., between the underwater swimming robot portion andthe tracks 214). For example, the communication tether can compriseinsulated electrical conductors. The communication tether can compriseoptical wires. The communication tether optionally can include areinforcement that runs the length to prevent stretching, snapping,shearing or other cutting of a surrounding jacket. In one embodiment,the communication tether can comprise a structured cable includinginsulated electrical conductors, optical wires, reinforcements, or acombination of these elements, During the configuration shown in FIG.2C, in which the upper body is neutrally buoyant and able to swimthrough the water, the tracks 214 on the lower portion 212 can followthe movement of the upper body 210 as it swims through the water columnby crawling along the sea floor in a direction the corresponds to thedirection of travel of the upper body 210 in order to stay within amaximum separation distance between the upper and lower bodies. In thisway, the upper body's travel range is not limited by the length of thetether since the lower body can move to follow the upper body so thatthe distance between the upper and lower bodies does not exceed thelength of the tether. Accordingly, the area of operation of the robotcan be expanded by providing a mobile platform. Data signals concerningthe movement of the upper body can be transmitted (e.g., through thetether) to the lower body in order to determine appropriate,corresponding movements and/or the upper body can transmit drive commandsignals directly to the lower body to control its movements so that itmoves in a complimentary manner.

In FIG. 2A, the underwater robot has a crawling configuration and issuited for crawling on the undersea surface due to its negativelybuoyant characteristic. In FIG. 2C, the upper body 210 is disengagedfrom the lower body 212, and the upper body is free to swim through thewater column due to its neutrally buoyant characteristic while the lowerbody remains resting on the seafloor due to its negatively buoyantcharacteristic. After the swimming operation is performed, the winch canretract the tethers to reengage the upper portion and the lower portion(including the buoyancy module) so that the robot can traverse theseafloor and move to the next location. The robotic system shown inFIGS. 2A-2C can include Buoyancy Control Sensors and Buoyancy ModuleFeedback processing as similarly discussed above. The Buoyancy ControlSensors can include an altimeter sensor, a tether force sensors, and awinch encoder. The upper body can include the altimeter sensor in orderto determine the distance between the upper body and the seafloor. Datafrom the three sensors can be used to provide signals to the robotprocessing unit which comprises feedback concerning the status of thebuoyancy module. For example, by comparing the altitude, encoder andforce sensors readings, the processor can determine the present statusof the buoyancy control process (e.g., negatively buoyant,transitioning, or neutrally buoyant). As one operation example, if theoutcome of the altitude measurement is higher than a current tetherencoder length stored in a memory and the tether is under tension, asknown from a tether sensor, then more tether slack is required and thewinch can be controlled accordingly to winch out an additional length oftether. If the current tether encoder length stored in the memory ismuch greater than the altitude reading and the tether tension forcesensor does not detect tension in the tether for an extended period oftime, this condition likely indicates that the tether has been slack fora significant period and retrieving some tether (e.g., by controllingthe winch to reel in) can reduce the chance of tether entanglement. Aclosed loop automatic control can further be applied on the buoyancycontrol system to minimize the effect of drag and the surface waves onthe buoyancy status of the robot.

Referring now to FIG. 3, the underwater robotic system 300 includes anunderwater robot 310 and a surface vehicle 324. The surface vehicle 324and the underwater robot 310 can be connected by via a vehicle tether326. The vehicle tether 326 can be a communication tether that cantransmit power and/or electrical signals (e.g., from electronics box336) for transferring data and other information between the surfacevehicle 324 and the underwater robot 310. The surface vehicle 324 can bea support boat for the underwater robot 310. The surface vehicle 324 canremain on the surface of the water at the top of the water column andthe underwater robot 310 can swim through the water column and/or landon the subsurface floor to perform various tasks. The underwater robot310 can include a thruster 322 for propulsion through the water columnand lower portion 312 that includes tracks 314 for traversing thesubsurface floor.

The surface vehicle 324 includes a winch system 320 that can be used towind and unwind a tether 318 that is connected to a buoyance module 316.Referring to FIG. 3A, the tether 118 and buoyancy module 316 are in aretracted condition and the buoyancy module 316 is disengaged from theunderwater robot 310. As can be seen, when the tether 318 is retracted,the buoyancy module 316 is adjacent the surface vehicle 324. In thiscondition, in which the buoyancy module 316 is disengaged from theunderwater robot 310, the underwater robot 310 is neutrally buoyant.Accordingly, the underwater robot 310 can efficiently swim through thewater column using thrusters 322.

In FIG. 3B, the winch system 320 has been commanded and operated tounwind and extend the tether 318. As the tether 318 and buoyancy module316 extend, the buoyancy module 316 engages with the underwater robot310. The buoyancy module 316 has a negatively buoyant characteristic.Accordingly, when the buoyancy module 316 is lowered from the surfaceboat 324 to engage with the underwater robot 310, the buoyancy of theunderwater robot decreases by an amount equal to the negative buoyancyof the buoyancy module and the underwater robot becomes negativelybuoyant. The underwater robot 310 can include a recess 328 for receivingthe buoyancy module 316 when in the extended and engaged condition.Similarly, the surface boat 324 can include a recess 330 for receivingthe buoyancy module 316 when in the retracted and disengaged condition.The buoyancy module 316 and/or underwater robot 310 can include alatching mechanism (e.g., magnets 332) that securely engage the buoyancymodule 316 to the underwater robot 310. The secure engagement providedby the magnets can prevent inadvertent disengagement between thebuoyancy module 316 and the underwater robot 310, for example, as theunderwater robot goes over bumps or uneven surfaces on the seafloor. Thebuoyancy module 316 can be ring shaped having a central aperture 334that is sized and shaped to receive the vehicle tether 326. The buoyancymodule 316 can comprise multiple, discrete units that can be deployedindividually and/or in groups so that the buoyancy can be controlledincrementally by independent control of each buoyancy module. Thelatching mechanisms facilitate the release/engagement of single and/ormultiple buoyancy modules by engaging and disengaging buoyancy modulesto the underwater robot 310. The central aperture 334 can have a smooth,conically shaped profile that reduces potentially chaffing as thebuoyancy module slides along the vehicle tether 326. The centralaperture 334 can also include rollers to facilitate movement along thevehicle tether 326 and reduce chaffing or other potential damage.Similarly, as discussed above, the robotic system can include BuoyancyControl Sensors and Buoyancy Module Feedback processing in whichdepth/altimeter sensors, winch encoders, and tether tension sensors canbe used to efficiently and smoothly control the buoyancy adjustmentoperations.

Referring to FIG. 4, the underwater robotic system includes a surfacevehicle 424 and an underwater robot 410 connected via a vehicle tether426. The system shown in FIG. 4 is similar to the system shown in FIG.3, with the major differences being that the buoyancy module 416 has apositive buoyancy and the winch system 420 is supported by theunderwater robot 410 to extend and retract the buoyancy module 416.Accordingly, similar parts share a similar numbering convention, exceptthat a “4” prefix is used instead of a “3” prefix.

As shown in FIG. 4A, the tether 418 is wound about the drum of the winch420. The buoyancy module 416 is a retracted position and is engaged withthe underwater robot 410. In this configuration, the buoyancy module 416exerts a positively buoyant force on the underwater robot 410 causingthe underwater robot to be neutrally buoyant.

In FIG. 4B, the winch has been operated to extent the tether 418 causingthe buoyancy module 416 to extend away and disengage from the underwaterrobot 410. As shown, the buoyancy module 416 is received by the surfacevehicle 424. The tether 418 is slack and no force is exerted by thebuoyancy module 416 on the underwater robot 410. The disengagement ofthe positively buoyant buoyancy module 416 from the underwater robot 410reduces the net buoyancy of the underwater robot 410. Accordingly, theunderwater robot 410 becomes negatively buoyant and is better suited fortraversing the seafloor.

In both the arrangement shown in FIGS. 3 and 4, the vehicle tether issufficiently long so that the vehicle tether does not exert a buoyancyforce on the underwater robot due to the buoyancy of the surface vehicleand/or the buoyancy module. Accordingly, when the buoyancy module is inthe extended position, the buoyancy of the surface vehicle does notinadvertently affect the buoyancy of the underwater robot. As such, inthe extended position the tethers connected to the buoyancy modules areno longer under tension and do not transfer a buoyancy force. Asdiscussed above, in a similar fashion, the robotic system can includeBuoyancy Control Sensors and Buoyancy Module Feedback processing inwhich depth/altimeter sensors, winch encoders, and tether tensionsensors can be used to efficiently and smoothly control the buoyancyadjustment operations.

Referring to FIG. 5, the underwater robotic system 500 includes anunderwater robot 510 and a surface vehicle 524. The system shown in FIG.5 is similar to the systems shown in FIGS. 3 and 4, with the majordifferences being that the surface vehicle 524 is a hybrid vehicle thatcan both travel underwater and on the water surface and that thebuoyancy module 516 is incorporated into the surface vehicle 524.Accordingly, similar parts share a similar numbering convention, exceptthat a “5” prefix is used instead of a “3” or “4” prefix.

Referring FIG. 5A, the surface vehicle 524 and the underwater robot 510are engaged and the two vehicles have a neutral net buoyancy. As shownin FIG. 5B, the winch system 520 has operated to extend the tethers 518so that the surface vehicle 524 and the underwater robot are partiallyextended away from each other. However, in the configuration shown inFIG. 5B, the surface vehicle is still in the water column and has notyet reached the surface. As such, the tethers 518 are still undertension and so the buoyancy module 516, which is incorporated into thesurface vehicle 524, exerts a buoyancy force on the underwater robot510. The buoyancy module 516 can be in the form of added positivelybuoyant material that is incorporated into surface vehicle 524. Thebuoyance module 516 can also be integral with the surface vehicle 524such that the natural buoyance of the lower portion surface vehicle 524also provides the positive buoyancy of the buoyancy module 516.

In FIG. 5C, the winch 520 has extended a sufficient length of tether 518so that the surface vehicle 524 has reached the surface of the water atthe top of the water column and the tethers 518 are slack. In theextended, slack condition, the tethers 518 do not transmit force fromthe buoyancy module 516 to the underwater robot 510 and so the buoyancymodule 516 and the underwater robot 510 are disengaged. In thiscondition, the underwater robot 510 is negatively buoyant and lands onthe subsurface floor where it is suitable for traversing the floor andperforming various tasks.

The surface vehicle 524 can also include communication relay 536 thatcan receive communications over the air from a remote control stationand then relay those signals to the underwater robot 510, eitherwirelessly through the water or through a communication tether (notshown). The surface vehicle 524 can also include a position sensor 538for tracking the relative position of the underwater robot 510 to thesurface vehicle 524. The surface vehicle 524 can also include processorsfor calculating the relative position of the two vehicles and canfurther include a propulsion system 540 that can be commanded to movethe surface vehicle 524 so that a relative positioning is maintainedbetween the underwater robot 510 and the surface vehicle 524 as theunderwater robot performs its various operations. Again, similarly, therobotic system can include Buoyancy Control Sensors and Buoyancy ModuleFeedback processing in which depth/altimeter sensors, winch encoders,and tether tension sensors can be used to efficiently and smoothlycontrol the buoyancy adjustment operations, as discussed above. Further,as similarly discussed above, the surface vehicle can be controlled tomove in a corresponding manner to follow the movements of the underwaterrobot.

As discussed above, the various embodiments of the present inventionprovide significant advantage in operating in a water environment byproviding a robotic system that can perform various tasks that requirediffering buoyancy characteristics, by using the same vehicle withouthaving to retrofit or modify the vehicle offline in a time-consuming,costly operation. The buoyancy of the underwater robot can be changedusing mechanical devices such as winches and tethers during theoperation of the robot, after it has been deployed into the water. Theuse of a winch and tether system provides a cost-effective and efficientmeans of controlling the buoyancy of the vehicle as compared to othersystems that require the changing of hydraulic ballast. Moreover, sincethe buoyancy module remains connected to the underwater vehicle bytethers, the buoyancy module can be recovered and reused after it isdisengaged from the underwater robot. This offers significant advantagesover typical drop-ballast systems in which ballast material is simplyreleased and disregarded and cannot be reused. Moreover, the ability toengage, disengage, and reengage the buoyancy module permits the buoyanceof the robot to be adjusted multiple times throughout an operation,thereby increasing the versatility of the robot while reducing the needto have separate robots for performing different tasks and/or retrievingthe robot mid-operation to manually change its buoyancy characteristics.

It should be understood that like numerals in the drawings representlike elements through the several figures, and that not all componentsand/or steps described and illustrated with reference to the figures arerequired for all embodiments or arrangements. It should also beunderstood that the embodiments, implementations, and/or arrangements ofthe systems and methods disclosed herein can be incorporated as asoftware algorithm, application, program, module, or code residing inhardware, firmware and/or on a computer useable medium (includingsoftware modules and browser plug-ins) that can be executed in aprocessor of a computer system or a computing device to configure theprocessor and/or other elements to perform the functions and/oroperations described herein. It should be appreciated that according toat least one embodiment, one or more computer programs, modules, and/orapplications that when executed perform methods of the presentdisclosure need not reside on a single computer or processor, but can bedistributed in a modular fashion amongst a number of different computersor processors to implement various aspects of the systems and methodsdisclosed herein.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the invention. Asused herein, the singular forms “a”, “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising”, when used in this specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof.

It should be noted that use of ordinal terms such as “first,” “second,”“third,” etc., in the claims to modify a claim element does not byitself connote any priority, precedence, or order of one claim elementover another or the temporal order in which acts of a method areperformed, but are used merely as labels to distinguish one claimelement having a certain name from another element having a same name(but for use of the ordinal term) to distinguish the claim elements.

Also, the phraseology and terminology used herein is for the purpose ofdescription and should not be regarded as limiting. The use of“including,” “comprising,” or “having,” “containing,” “involving,” andvariations thereof herein, is meant to encompass the items listedthereafter and equivalents thereof as well as additional items.

The subject matter described above is provided by way of illustrationonly and should not be construed as limiting. Various modifications andchanges can be made to the subject matter described herein withoutfollowing the example embodiments and applications illustrated anddescribed, and without departing from the true spirit and scope of thepresent invention, which is set forth in the following claims.

Notably, the figures and examples above are not meant to limit the scopeof the present application to a single implementation, as otherimplementations are possible by way of interchange of some or all of thedescribed or illustrated elements. Moreover, where certain elements ofthe present application can be partially or fully implemented usingknown components, only those portions of such known components that arenecessary for an understanding of the present application are described,and detailed descriptions of other portions of such known components areomitted so as not to obscure the application. In the presentspecification, an implementation showing a singular component should notnecessarily be limited to other implementations including a plurality ofthe same component, and vice-versa, unless explicitly stated otherwiseherein. Moreover, applicants do not intend for any term in thespecification or claims to be ascribed an uncommon or special meaningunless explicitly set forth as such. Further, the present applicationencompasses present and future known equivalents to the known componentsreferred to herein by way of illustration.

The foregoing description of the specific implementations will so fullyreveal the general nature of the application that others can, byapplying knowledge within the skill of the relevant art(s) (includingthe contents of the documents cited and incorporated by referenceherein), readily modify and/or adapt for various applications suchspecific implementations, without undue experimentation, withoutdeparting from the general concept of the present application. Suchadaptations and modifications are therefore intended to be within themeaning and range of equivalents of the disclosed implementations, basedon the teaching and guidance presented herein. It is to be understoodthat the phraseology or terminology herein is for the purpose ofdescription and not of limitation, such that the terminology orphraseology of the present specification is to be interpreted by theskilled artisan in light of the teachings and guidance presented herein,in combination with the knowledge of one skilled in the relevant art(s).It is to be understood that dimensions discussed or shown are drawingsare shown accordingly to one example and other dimensions can be usedwithout departing from the invention.

While various implementations of the present application have beendescribed above, it should be understood that they have been presentedby way of example, and not limitation. It would be apparent to oneskilled in the relevant art(s) that various changes in form and detailcould be made therein without departing from the spirit and scope of theapplication. Thus, the present application should not be limited by anyof the above-described example implementations.

The invention claimed is:
 1. A buoyancy module arrangement for use witha water environment robotic system of the type having an underwaterrobotic vehicle having a winch, comprising a buoyancy module configuredto be repeatably, selectively buoyantly engaged and buoyantly disengagedwith the underwater robotic vehicle; a tether connecting the buoyancymodule and the underwater robotic vehicle which is extendable andretractable in response to operation of the winch; and a statecontroller operative to control winch to cause a transition of therobotic system between at least two buoyancy conditions including from afirst condition to a second condition and back to the first condition;wherein in the first condition the tether and buoyancy module are in aretracted position and the underwater robotic vehicle has a neutralbuoyancy, and in the second condition the tether and buoyancy module arein an extended position and the underwater robotic vehicle has anegative buoyancy, wherein the buoyancy module is buoyantly engaged inthe first condition, and the buoyancy module is buoyantly disengagedwith the underwater robot in the second condition, and wherein thetether being in a slack condition causes the module to be in the stateof being buoyantly disengaged with the underwater robot.
 2. A buoyancymodule arrangement for use with a water environment robotic system ofthe type having an underwater robotic vehicle having a winch,comprising: a buoyancy module configured to be repeatably, selectivelybuoyantly engaged and buoyantly disengaged with the underwater roboticvehicle; a tether connected to the buoyancy module and extendable andretractable in response to operation of the winch; a state controlleroperative to control winch to cause a transition of the robotic systembetween at least two buoyancy conditions including from a firstcondition to a second condition and back to the first condition; and asurface boat as part of the water environment robotic system and whereinthe module is incorporated in the surface boat, wherein in the firstcondition the tether and buoyancy module are in a retracted position andthe underwater robotic vehicle has a neutral buoyancy, and in the secondcondition the tether and buoyancy module are in an extended position andthe underwater robotic vehicle has a negative buoyancy, wherein thebuoyancy module is buoyantly engaged in the first condition, and thebuoyancy module is buoyantly disengaged with the underwater robot in thesecond condition.
 3. The buoyancy module arrangement for use with awater environment robotic system of the type having an underwaterrobotic vehicle having a winch, comprising: a buoyancy module configuredto be repeatably, selectively buoyantly engaged and buoyantly disengagedwith the underwater robotic vehicle; a tether connected to the buoyancymodule and extendable and retractable in response to operation of thewinch; and a state controller operative to control winch to cause atransition of the robotic system between at least two buoyancyconditions including from a first condition to a second condition andback to the first condition; wherein in the first condition the tetherand buoyancy module are in a retracted position and the underwaterrobotic vehicle has a neutral buoyancy, and in the second condition thetether and buoyancy module are in an extended position and theunderwater robotic vehicle has a negative buoyancy, wherein the buoyancymodule is buoyantly engaged in the first condition, and the buoyancymodule is buoyantly disengaged with the underwater robot in the secondcondition, and wherein the module is a surface boat.
 4. A buoyancymodule as in claim 3, wherein the surface boat is configured to performfunctions on a surface of the water when the surface boat is in thedisengaged condition.
 5. The buoyancy module of claim 1, furthercomprising a latching mechanism for securely engaging the buoyancymodule to the underwater robotic vehicle.
 6. The buoyancy module ofclaim 5, wherein the latching mechanism comprises a magnet.
 7. Thebuoyancy module of claim 1, wherein the module includes multiplediscrete units.
 8. The buoyancy module of claim 2, further comprising alatching mechanism for securely engaging the buoyancy module to theunderwater robotic vehicle.
 9. The buoyancy module of claim 8, whereinthe latching mechanism comprises a magnet.
 10. The buoyancy module ofclaim 2, wherein the module includes multiple discrete units.
 11. Thebuoyancy module of claim 3, further comprising a latching mechanism forsecurely engaging the buoyancy module to the underwater robotic vehicle.12. The buoyancy module of claim 11, wherein the latching mechanismcomprises a magnet.
 13. The buoyancy module of claim 3, wherein themodule includes multiple discrete units.